基于有限视觉信息的小型无人机编队控制  

Small UAVs formation control based on limited visual information

作　　者：柯天成 李晓丽[1] 董鑫 KE Tiancheng;LI Xiaoli;DONG Xin(College of Information Science and Technology,Donghua University,Shanghai 201620)

机构地区：[1]东华大学信息科学与技术学院,上海201620

出　　处：《东华大学学报（自然科学版）》2021年第2期58-64,共7页Journal of Donghua University(Natural Science)

基　　金：上海市自然科学基金资助项目(16ZR1446700);上海市浦江人才计划资助项目(18PJ1400100)。

摘　　要：依据大雁飞行时依靠视觉信息形成V字形编队的群体行为,研究装载单目鱼眼镜头的小型无人机凭借视觉信息控制编队的问题。通过数学方法刻画小型无人机的“视觉盲区”,并设计代价函数来表征小型无人机在不同飞行状态中的“视觉代价”。据此提出一种基于代价函数的控制律,在保证无人机任意时刻不飞入其他无人机“视觉盲区”的前提下,利用梯度下降法使含有速度与位置信息的期望函数收敛达到稳态。由于“视觉盲区”的存在意味着一些队形无法实现,对此给出了可编队范围的描述。仿真结果表明,该控制方法能避免无人机进入其他无人机的盲区,并使无人机组实现预定的编队状态。由此验证了该方法的可行性与有效性。According to the group behavior of flying geese in V-shaped formation based on visual information,the problem of formation control is studied based on visual information of small UAV(unmanned aerial vehicle)with monocular fisheye lens.The"visual blind area"of small UAV was described by mathematical method,and the"visual cost"of small UAV in different flight states was characterized by designing the cost function.On this basis,a control law based on the cost function was proposed.Under the premise of ensuring that the drone did not fly into the"visual blind zone"of other drones at any time,the expectation function containing both speed and position information was set.The gradient was used to make the expectation function converge and reach steady state.Because the existence of"visual blind area"meant that some formations can not be realized,a description of the range of formations was given.The simulation results show that the control method can prevent the UAV from entering the blind zone of other UAVs and enable it to achieve the predetermined formation state.Thus,the feasibility and effectiveness of the method can be verified.

关 键 词：无人机 视觉盲区 大雁飞行 编队 

分 类 号：TP15[自动化与计算机技术—控制理论与控制工程] TP391.9[自动化与计算机技术—控制科学与工程]